Asclepius passed by Earth on March 22, 1989, at a distance of 0.00457 AU (684,000 km; 425,000 mi).[2][3] Although this exceeds the Moon's orbital radius, the close pass received attention at that time, especially since the asteroid passed through the exact position of Earth only six hours earlier. "On the cosmic scale of things, that was a close call," said Dr. Henry Holt.[4] Geophysicists estimate that collision with Asclepius would release energy comparable to the explosion of a 600 megaton atomic bomb.[5] The asteroid was discovered March 31, 1989, nine days after its closest approach to the Earth.[6]

Subsequent discoveries revealed that a whole class of such objects exists. Close approaches by objects the size of Asclepius pass by every two or three years, undetected until the start of computerized near-Earth object searches.

On 2051-Mar-24 the asteroid will pass 0.012 AU (1,800,000 km; 1,100,000 mi) from the Earth.[2][3] It will be the eighth pass of less than 30 Gm in this century.[2] Due to many close approaches to Earth and Venus that increase the uncertainty region, neither JPL or NEODyS list close approaches after 2127.[2][3] JPL shows that the uncertainty region of the asteroid will cause it to mostly likely pass from 0.06 AU to 0.24 AU from the Earth in 2127.[2]